JPH05166089A - Warning system for operating machine - Google Patents

Abstract

PURPOSE:To speedily discriminate the relation between the zone and an object to be detected by detecting it shifting from the less dangerous zone to the more dangerous zone in a plurarity of potential zones of the virtual degree of danger. CONSTITUTION:Signals from the rotation/position detection sensor according to the rotation of a revolving body and signals from a driving controller 8 and receiving sensors 17a to 17c are taken in an MPU 10 of an arithmetic control section 6 through an interface 14. The MPU 10 controls a warning section 7 and a hydraulic shovel 20. In addition to the MPU 10, a memory 9, control panel 11, display 12, etc., are connected to a bus 13. An alarm can be given safely by setting the multicircle potential zones of the virtual degree of danger around the tip of the alarm of the operating machine and sounding an alarm, in case an object to be monitored enters in one of the circles, while detecting the object when it moves from the less dangerous circle to the more dangerous circle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an alarm system used for a working machine such as a civil engineering and construction machine having an upper swing body such as a hydraulic excavator and a crane. The present invention relates to an alarm system capable of dynamically issuing an alarm to an object according to the form and operation state of a work machine and dynamically performing safety management.

[0002]

2. Description of the Related Art At construction sites, road paving sites, civil engineering work sites, and the like, there are many work modes in which construction machines and workers cross each other. In addition, depending on the location, general people also visit or carry in and carry out various machines used in association with work, and also obstacles. Then, if these workers, ordinary people, obstacles, etc. are behind or diagonally obstructing the vision of the driver of the work vehicle or the like, there is a very high risk of an accident. Therefore, various safety systems have been conventionally proposed. One of them is an ultrasonic echo method. The ultrasonic echo method is a system that captures an echo from an object that reflects ultrasonic waves and issues an alarm to an object in an alarm area.

[0003]

A conventional alarm system using the ultrasonic echo method is used for a person other than a worker, such as an obstacle such as grass or trees, work equipment or equipment that should not generate an alarm. However, it is not practical because it is sensitive to alarms. In order to solve such a drawback, a transponder system has been proposed as an alarm system using ultrasonic waves. The transponder system divides a driver and a worker into a master station and a slave station to exchange information. The workers who are subordinates
When a device that receives ultrasonic waves transmitted from the vehicle that is the master station is installed and the ultrasonic waves from the vehicle are received, the alarm of the slave station is sounded, and switching between transmission and reception is performed and the main frequency is different from the reception frequency. Call the station. On the other hand, the vehicle serving as the master station is a system that receives a signal from the slave station within the detection area and issues a warning from the vehicle side to the worker when the signal from the slave station is received. In this way, by receiving a response from the slave station at a frequency different from that of the master station, reflection from an unrelated obstacle (frequency is the same as that of the master station) and from the slave station (different frequency response from workers etc.) Can be distinguished from that of.

However, even if such a transponder system is used, if the detection area is expanded in order to ensure higher safety, the reflected wave receiving area of the ultrasonic wave is expanded correspondingly and an alarm is generated even for unrelated obstacles in the surroundings. There is a problem that the risk of occurrence of is increased and that the safety is reduced when the detection area is limited. Therefore, in order to solve such a problem, the inventors of the present invention have proposed a warning system for a work machine that sets a plurality of virtual danger potential zones around the work machine to determine the danger, and A person has already applied for it as Japanese Patent Application No. 3-205366. This method is based on determining which virtual danger potential zone that has been set contains a detection target (including a person). If the determination process is quick, the time until the alarm is issued can be shortened accordingly, and higher safety can be secured. However, in the work machine, not only the arm, boom, and attachment during work but also the revolving structure changes its posture. Therefore, if the potential zone is set accordingly, it takes time for the above determination processing. On the other hand, there is a strong demand for making this determination time as short as possible and making an instantaneous determination. The present invention addresses such a demand and solves the above-mentioned problems of the prior art.
It is possible to dynamically perform safety management for an approaching object according to the operating state of the work machine (including the stationary state), easily set the potential zone, and An object of the present invention is to provide an alarm system for a work machine that can make a determination at high speed.

[0005]

An alarm system for a working machine according to the present invention which achieves the above object is formed by multiple circles having different radii on a plane around the tip of the arm of a working machine having an arm. Potential zone setting means for setting a plurality of virtual danger potential zones in which the degree of danger increases toward the inside, position detecting means for detecting the position of the detection target object with respect to the work machine, and the position detecting means. A determination means for determining whether the position is in one of the plurality of virtual danger potential zones and an alarm means for issuing an alarm are provided. Of the virtual danger potential zones of the above, the alarm means is driven by detecting the movement from the low danger zone to the high danger zone. It is intended to generate.

[0006]

As described above, when a plurality of virtual danger potential zones composed of multiple circles are set around the tip of the arm of the work machine and one of the circles contains a monitoring target, the circle with a low risk is selected. Since the monitoring target is detected and the alarm is sounded when the target moves to the high-risk circle, the alarm is less likely to be affected by the noise generated at random and the alarm can be issued more safely. Moreover,
Since it is a circular potential zone, it can be set only by the distance from the center, and even if the arm rotates during work, you can determine which potential zone it is by simply obtaining the distance from the current position of the tip to the object. It is possible to quickly determine the degree of danger in the working state.

[0007]

1 is an explanatory view of an embodiment in which the alarm system for a working machine according to the present invention is applied to a hydraulic excavator, and FIG. 2 is an explanatory view of the overall configuration of the hydraulic excavator, and FIG. Is an explanatory view of the mounting relationship between the reception sensor and the ultrasonic wave generation horn, FIG. 4 is an explanatory view of the virtual danger potential zone, FIG. 5 is an explanatory view of a potential data table, and FIG. 6 is an operation of the hydraulic excavator. FIG. 7 is an explanatory diagram of a virtual risk potential zone set according to the above, FIG. 7 is an explanatory diagram of a virtual risk potential zone that is set by predicting a movement destination when in a working state, and FIG. 8 is a virtual risk level. It is explanatory drawing of the danger level setting function of a potential zone.

In FIG. 2, reference numeral 20 denotes a hydraulic shovel having a backhoe front attachment, and a work front attachment composed of a boom 2, an arm 3 and a bucket 4 is attached to an upper swing body 1 thereof. A traveling body 5 is provided below the revolving structure 1. Reference numeral 6 denotes an arithmetic control unit mounted on the hydraulic excavator 20, which has a microprocessor (MPU), a memory, and the like, and corresponds to the turning angle θ of the revolving structure 1 and the working range of the boom 2 and the front attachment. The postures (angles α ₁ , α ₂ , α ₃ ) of the respective working members in the above are controlled.
Further, the drive control unit 8 is controlled to control the driving and stopping of each work member. An alarm unit 7 is provided with a buzzer and a voice synthesizer to notify the working state by a buzzer and gives various alarms to a near object and a near person. In the figure, d ₁ is a control amount for setting the angle α ₁ (not shown) of the boom 2, and d ₂ is the angle α _{2 of the} arm 3.
(Not shown) is a control amount for setting, and d ₃ is the angle α _{3 of the} bucket 4 (or the front attachment).
It is a control amount for setting (not shown).

As shown in the partially enlarged plan view of FIG. 3, three receiving sensors 17a, 17b, 17c and 90 are provided in the upper vehicle body portion and the right vehicle body portion of the driver's seat of the hydraulic excavator 20.
Four ultrasonic wave generation horns 18a, 18b,
18d and 18e are provided. These reception sensors 17a, 17b, 17c are installed at intervals of 120 degrees on the circumference centered on the rotation center O of the revolving structure 1. The receiving directivity of each receiving sensor is 180
It has two built-in sensors capable of switching the degree, and has a directivity of 360 degrees by switching. The reception sensors 17a and 17b are attached so that the directivity thereof is oriented forward and backward so that the directivity can be switched to the front and rear of the hydraulic excavator 20, and the reception sensor 17c is attached to the hydraulic excavator 20.
It is attached so that the directivity can be switched to the left and right. On the other hand, the ultrasonic wave generation horns 18a, 18b, 18
d and 18e are simultaneously driven by the transmission circuit 18 and 3
Ultrasonic waves are emitted at 60 degrees all around.

From the above, the signals received by the reception sensors 17a and 17b are switched as the position measurement signals for the reception objects before and after the revolving structure 1 depending on the rotating state of the revolving structure 1. Support, revolving structure 1
On the other hand, at the position on the right side, the receiving sensor 17a whose directivity is switched to the rear side and the receiving sensor 17c whose directivity is switched to the right side
The receiving sensor 17b which receives the signal received by the device as a position measurement signal, and conversely, on the left side, switches the directivity to the rear side.
And the signal received by the reception sensor 17c whose directivity is switched to the left side is received as a position measurement signal. These sensors include a reception detection circuit 16 and a selector 1 by the arithmetic control unit 6.
5, the selection of the sensor and the selection of the detection mark of the reception detection circuit 16 are controlled in a time division manner, and the signal corresponding to the selection is sent to the arithmetic control unit 6 via the selector 15 as the reception detection interrupt signal. Is entered as.

By the way, the ultrasonic wave generation horns 18a, 18
The ultrasonic waves generated by b, 18d, and 18e are, for example,
30 kHz, receiving sensors 17a, 17b, 17c
The frequency received by is, for example, 20 kHz, and the frequencies of the transmission signal and the reception signal are different. This difference is that when an alarm device (detection target 19) carried on the side of a worker or the like to be detected receives ultrasonic waves of 30 kHz, ultrasonic waves of 20 kHz are transmitted as a reception response signal. Because there is. So here
The so-called hydraulic excavator 20 side is the main station, and the transponder system in which the worker side is the slave station is adopted. Therefore, the ultrasonic wave generation horns 18a, 18b, 18d, and 18e are controlled by the arithmetic control unit 6 under the control of the transmission circuit 18, and
0 kHz ultrasonic wave, for example, 0.1sec-0.3sec
The arithmetic control unit 6 that receives the reception signal measures the time until the ultrasonic wave of 20 kHz is received via the reception detection circuit 16 periodically. As a result, the distance from each sensor to the worker-side portable alarm device (subordinate station) can be calculated.

FIG. 1 shows the internal configuration of the arithmetic control unit 6 for performing such processing, and particularly shows the main part mainly including the parts related to the present invention. A rotational position signal obtained from a rotational position detection sensor in response to the revolving structure of the revolving structure 1 shown in FIG. 2 and signals from rotary encoders of various working members of the front attachment, the drive control unit 8, the reception sensor 1
The signals from 7a, 17b, and 17c are supplied to the arithmetic control unit 6 via the interface 14 including an A / D conversion circuit, respectively.
It is taken in by MPU10 of. The alarm unit 7 is controlled by the MPU 10 via the interface 14,
Driven. The MPU 10 performs overall control of the work of the hydraulic excavator 20 described above, and also performs processing such as control and determination peculiar to the present invention and driving of an alarm unit by the configuration described below.

An interface 14 is provided on the bus 13.
In addition to the MPU 10, the memory 9 storing various programs and data, the operation panel 11, the display 12 and the like are connected. Then, in the memory 9, a center position calculation program 9a for calculating the center position of the group of potential zones for which the virtual risk level is set according to the working state.
An object detection / distance calculation program 9b, a risk degree determination program 9c, an alarm processing program 9d, etc. are stored. Further, the memory 9 is provided with a data table 9e for potential and the like, a monitoring target table 9f, and the like.
Here, each zone between adjacent circles formed by concentric circles set in a concentric shape as shown in FIG. 4 corresponds to a virtual potential zone, and the potential data table 9e shows Manage each zone by distance (radius). Then, the monitoring target table 9f stores data regarding the detection target object 19.

FIG. 5 shows the potential data table 9e.
Shows the contents of. For this, the radius data of each circle in FIG. 4 is set to the zone setting center PA, PB, P, respectively.
It is tabulated corresponding to C and PD. That is,
The potential data table 9e is the zone setting center P
Rotation center O of revolving unit 1 for A, PB, PC, PD
Control amount function that generates the coordinate value for the (origin) to set the work control amount (theta for setting the posture of the working member d, the control amount d ₁ to set the angle alpha ₁ of the boom 2, the angle of the arm 3 alpha control amount d ₂ to set _2, the control amount d ₃ to set the angle alpha ₃ of the bucket 4, in relation to reference FIG. 2), f
pa (d, d ₁ , d ₂ , d ₃ ), fpb (d, d ₁ ), fpd
It is provided as (d). It should be noted that the PC of the center of the zone setting is at the origin O, and therefore the coordinates need not be calculated. Therefore, no function is needed. The potential data table 9e is provided with the current coordinates Xo and Yo with respect to the origin O with respect to the center of the concentric circle calculated according to the work state by the function, and the radius (r
i) and an array of pairs of radii of circles and inner danger levels (level Pi (described later)) rn / Pn, dn-1 / Pn-1,
.., r ₁ / P ₁ , r ₀ / P ₀ data are provided in order from the radius of the inner circle with high risk. In addition, n is an arbitrary integer selected according to each zone.

The center position calculation program 9a refers to this potential data table 9e in a periodic interrupt process, and fpa (d, d ₁ , d ₂ , d ₃ ) and fpb (d, d).
₁ ), fpd (d), the current position of the center of each potential zone PA, PB, PD is calculated, and the values of the current coordinates Xo, Yo are periodically written in the potential data table 9e at a predetermined cycle.

FIG. 4 shows a concentric virtual danger potential zone graphic set corresponding to the center position of each potential zone generated by the center position calculating program 9a. Of these circles, the circle on the innermost side with respect to the center of zone setting is such that when the boom 2, arm 3 and bucket 4 each take the smallest posture or basic posture, they are covered at that time. It is provided with a radius that encloses the posture. Also,
The potential zones of the concentric circles are calculated according to the posture of the working front attachment composed of the boom 2, the arm 3 and the bucket 4 and the rotation of the revolving structure 1 by periodically calculating the centers of these zones by the function. To move or rotate. Here, in particular, since the potential zone is donut-shaped (circle), when the object moves from the low-risk potential zone to the high-potential zone, the object moving or in the moving direction is the center of the concentric circle. Will move relative to. Therefore, even if the object is not moving, it is possible to grasp that the posture of the work front attachment including the boom 2, the arm 3 and the bucket 4 is close to the object, and the risk degree can be determined more reliably. Can be done.

Therefore, here, the object moved from the low-potential zone to the high-potential zone is captured. Then, an alarm is issued when the moved high potential zone is a potential zone having a predetermined danger level or higher. In the drawing, the shapes of the concentric circles are different for the revolving structure 1, the boom 2, the arm 3 and the bucket 4. this is,
This is because each risk management is different. In particular, the bucket 4 should have more circles than the others. The reason is that when the revolving structure 1 is revolving, when the boom 2 is moving, when the arm 3 is moving, and when a plurality of these are operating,
This is because the degree of risk is higher than that in the single operation state, and more detailed management is required.

As for the degree of danger, the degree of danger in each zone when they are independently moved is managed by level P, and the outermost frame has the lowest degree of danger, level P =
0, the circle closest to the center is set as the highest level n and is divided into n levels for management. In addition, when the revolving structure 1 is revolving, when the boom 2 is moving, when the arm 3 is moving, and when a plurality of these are moving, the danger level P is reached. The degree of risk increases according to the movement. Therefore, the level P is corrected with respect to the first independent level. This correction is performed by multiplying the value of the first level P by a certain numerical value Q (however, a number of 1 or more) and the risk level (level P) to be judged.
Is calculated, or a certain addition value Q is specially added and calculated.

In the object detection / distance calculation program 9b, the reception detection circuit 16 detects the reception signal and MPs the interrupt signal.
It is activated by the MPU 10 when it is sent to the U 10.
This program 9b uses the reception sensors 17a, 17b, 1
By switching the directivity of 7c in time division, front and rear, left and right position data signals are sequentially obtained from these receiving sensors, and based on the distance between each receiving sensor and the distance to the receiving object, hydraulic pressure is calculated by a so-called trigonometric method. The position of the detection target object 19 (employee side alarm device) with the origin O as the center (rotation center) of the shovel 20 is calculated. After that, the MPU 10 activates and executes the risk determination program 9c.

An example of the distance calculation by the trigonometric method will be described with reference to FIG. 3. For example, the object to be detected 19 is the hydraulic excavator 2.
Taking the case in front of 0 as an example, the distance L ₁ between the receiving sensors 17a and 17b is known, and the distance L ₂ between the receiving sensor 17a and the detection target 19 and the receiving sensor 17b and the detection target 19 are Distance L ₃ of each of the receiving sensors 1
When the three sides of the triangle formed by 7a and 17b and the detection target object 19 are known, the angle ∠α that is the angle formed between the detection target object 19 and the reception sensors 17a-17b is calculated. Further, among the internal angles of the triangle formed by the sensor, since it is known that the internal angle of the receiving sensor 17a is ∠β = 30 degrees, the rotation center (origin O) of the detection target 19 and the hydraulic excavator 20 is known.
The distance L and the angle γ are calculated, and the coordinate (X, X,
Y) is calculated. The object detection / distance calculation program 9b stores the calculated coordinates (X, Y) in the memory 9.

The risk degree judgment program 9c is started, and M
When executed by the PU 10, the MPU 10 refers to the potential data table 9e to obtain the current coordinates Xo, Yo of the center of each potential zone, which are regularly calculated by the center position calculation program 9a. Then, based on this and the coordinates (X, Y) calculated by the target detection / distance calculation program 9b, each potential zone PA,
The distance Lo between the center position of PB and PD and the detection target 19 is calculated. Next, the potential data table 9e is used to determine which circle range this distance Lo is in when viewed from the center side.
, Rn / Pn, dn-1 / Pn-1, ..., r ₁ / P
₁ and r ₀ / P ₀ are compared to obtain the magnitude, and the risk level (level Pi) corresponding to the circle is calculated for each zone P.
Get about A, PB, PC, PD. Then, the coordinates and the degree of danger (value of level P) of the object when it enters the range of any one of the circles are registered in the monitoring object table 9f. For the potential zone PD, the detection distance L to the detection target 19 is used as it is.

After the above registration, the risk degree judgment program 9
The c refers to the monitoring target table 9f to determine whether or not there is any one already stored as a monitoring target in a predetermined range centered on the registered coordinates (this range is a determination range of the same target, It is appropriately determined according to the moving speed of the machine, etc.), and it is determined whether or not there is a registered detection target object 19. When there is it, it is determined that the registered object and the newly registered object are the same object, and the risk level of the registered object 19 to be detected is read and the level P is compared and determined. As a result, it is determined whether or not the risk level (P = potential value) has increased with respect to the past. When the degree of risk is the same or increasing, the information of the flag "1" is added to the data of the coordinate value newly registered for the monitoring target and stored. For those with this flag "1" set, the determination of the risk degree is given priority thereafter. If the degree of risk is lowered to a predetermined level or higher, for example, to a rank of 3 or higher, the information of the flag "0" is added to the newly registered coordinate value data.
Then, the coordinates and the degree of risk of the registered detection target are deleted. At this time, when there is no registered detection target within the same target determination range, the information of the flag “0” is added to the newly registered coordinate value data and registered. The coordinate data for which the flag "0" is set in this way is deleted before registration of a new object at an appropriate timing or at the next monitoring, and is excluded from the monitoring target.

This eliminates noise and the like. That is, only the data having the same or increased risk becomes the monitoring target, is left in the monitoring target table 9f, and the other data is deleted. In the risk determination when the monitoring target exists by referring to the monitoring target table 9f, when any one of the revolving structure 1, the boom 2, the arm 3 and the bucket 4 of the work machine is being controlled, it is being controlled. Prioritize the potential zones for the objects, and when each is under control, the bucket 4, the arm 3, the boom 2, and the revolving structure 1 are prioritized in this order.

If the risk potential value increases as a result of this determination, it remains as a monitoring target in the monitoring target table 9f of the memory 9 and is passed to the alarm processing program 9d as a parameter indicating the current virtual risk potential zone. The value of P is stored in a predetermined area of the memory 9. After that, the MPU 10 activates the alarm processing program 9d. When the MPU 10 activates the alarm processing program 9d, the MPU 1 receives the parameter stored in the predetermined area of the memory 8 and the MPU 1 obtains the value of the level P indicating the degree of danger of each of the zones PA, PB, PC, PD obtained previously. To get

The warning content is, for example, zone PA,
Assuming that the P levels of PB, PC, and PD are each set to 7 levels, when only one of the revolving structure 1, the boom 2, the arm 3, and the bucket 4 is operating independently, "0" to "7" are set for each. If the monitored object invades any one of the “,” the potential zone from “0” to “1” when the potential value is monitored.
In the case of alarm buzzer only, potential zone "1"
From "2" to "Dangerous" voice, from potential zone "2" to "3", "Keep workers away from dangerous.", From potential zone "3" to "4""Danger !, Danger!", "Dangerous !, Evacuate!" In potential zones "4" to "5", Slow work machine operation in potential zones "5" to "6", potential zone "6" From "7", the operation of the work machine is stopped. When the revolving structure 1, the boom 2, the arm 3 and the bucket 4 are operating in combination, the operation and the zones PA, PB, P
Regarding the relationship between C and PD and the P level, for example,
One potential zone “0” to “1” is “Danger !, Danger!”, And that potential zone “1”
From "2" to "Danger !, evacuate!", Slow down the working machine in the potential zones "2" to "3", stop working machine in the potential zone "3" to "4" Therefore, the one with a stricter alarm than the case of a single operation is selected.

Although the above description is of a form in which the relationship of the virtual danger potential zones is fixed, when the hydraulic excavator 20 moves forward and backward, and the front attachment is in operation, as shown in FIG. The center position of the circle may be shifted in the working direction to form a simple multiple circle in which the potential zone becomes wider in the working direction. Further, the center of the concentric circles of each potential zone may be shifted in the movement direction and the center may be set in advance at the predicted position to be reached for the calculation. This state is shown by a solid circle with respect to the dotted line in FIG.

The above description of the virtual danger potential zone is an example, and the size and the number of circles set as the potential zone can correspond to the composite operation of the work machine. In particular, when the attachment is exchanged, it is preferable to prepare the basic figure pattern according to the work member to be exchanged. The method of setting the risk level of each virtual risk potential zone can be determined according to a so-called exponential curve that increases logarithmically as shown in FIG. 8, and the zone density is also set according to the work machine. do it. By the way, in the above case, the detection target object moves in the virtual risk potential zone, but the virtual danger potential zone is taken at a high density and the risk increases depending on the speed at which the detection target increases the risk. May be determined. This can be done by collecting the rate of increase in risk as a function of time.

As described above, in the embodiment, the transponder system using ultrasonic waves is adopted, but the present invention can be applied even in the case of recognizing an object using radio waves. When radio waves are used, it is possible to easily detect the positional relationship between the detection target and the work machine by using the direction detection technology used in radar or the like. In addition, the virtual danger potential zone in the embodiment is an example, and it goes without saying that various virtual danger potential zones can be formed according to the work machine.

[0029]

As can be understood from the above description, according to the present invention, a plurality of virtual danger potential zones composed of multiple circles are set around the tip of the arm of the working machine, and one virtual circle is formed. When a monitoring target enters, the monitoring target is detected when the target moves from the low-risk circle to the high-risk circle, and the alarm is sounded, so it is affected by noise generated at random. Hard to be done,
The alarm can be issued more safely. Moreover, since it is a circular potential zone, it can be set only by the distance from the center, and even if the arm rotates during work, just by obtaining the distance from the current position of the tip to the object, which potential zone is in It is possible to make a judgment, and it is possible to make a high-speed judgment of the degree of danger in the working state. Furthermore, if the zone setting steps are taken in detail, more accurate target management can be performed, and if the zone setting is changed by changing the size of the circular potential zone according to the form, operation, and motion of the work machine, dynamic Therefore, high safety can be secured.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of an embodiment in which the alarm system for a working machine according to the present invention is applied to a hydraulic excavator.

FIG. 2 is an explanatory diagram of an overall configuration of a hydraulic excavator.

FIG. 3 is an explanatory diagram of a mounting relationship between the reception sensor and an ultrasonic wave generation horn.

FIG. 4 is an explanatory diagram of the virtual risk potential zone.

FIG. 5 is an explanatory diagram of a potential data table.

FIG. 6 is an explanatory diagram of a virtual risk potential zone set according to the operation of the hydraulic excavator.

FIG. 7 is an explanatory diagram of a virtual risk potential zone that is set by predicting a destination when in a work state.

FIG. 8 is an explanatory diagram of a risk setting function of a virtual risk potential zone.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Upper swing body, 2 ... Boom, 3 ... Arm, 4 ... Bucket, 5 ... Running body, 6 ... Arithmetic control part, 7 ... Alarm part, 8 ... Drive control part, 9 ... Memory, 9a ... Center position calculation program , 9b ... Object detection / distance calculation program, 9c ... Danger degree determination program, 9d ... Warning processing program, 9 ...
Monitoring target table, 9f ... Potential pattern storage area, 10 ... Microprocessor (MPU), 11 ... Video RAM (V-RAM), 12 ... Display, 13 ...
Bus, 14 ... Interface, 15 ... Selector, 16 ...
Reception detection circuit, 20 ... Hydraulic excavator, 17a, 17b,
17c ... Reception sensor, 18a, 18b, 18d, 18e
… Ultrasonic wave generation horn, 20… Hydraulic excavator.

Claims (6)

[Claims] 1. A potential for setting a plurality of virtual danger potential zones having a higher danger toward the inside, which is formed by multiple circles having different radii on a plane around the tip of the arm of a working machine having an arm. Zone setting means, position detecting means for detecting the position of the detection target with respect to the work machine, and whether the position detected by this position detecting means is in any one of the plurality of virtual risk potential zones. Determination means for determining,
An alarm means for issuing an alarm is provided, and it is detected that the detection object has moved from a low risk zone to a high risk zone among the plurality of virtual risk potential zones according to the determination result of the determination means. Drive the alarm means,
An alarm system for a work machine characterized by generating an alarm. 2. The circles are concentric circles, the arms are connected to the boom, and the potential zone setting means has a virtual center around the tip of the arm and the connecting portion of the boom and the arm. The work machine alarm system according to claim 1, wherein the danger potential zone is set. 3. The work machine has a swing structure for supporting a boom, and a traveling structure provided on the lower side of the swing structure, each circle is a concentric circle, and an arm is connected to the boom and a potential is provided. Zone setting means, the tip of the arm,
2. The alarm system for a work machine according to claim 1, wherein a virtual danger potential zone is set around each of a connecting portion between the boom and the arm and a connecting point between the boom and the revolving structure. 4. The alarm system for a work machine according to claim 1, wherein the center of each circle is set according to the movement direction or motion of the work machine. 5. The alarm system for a work machine according to claim 1, wherein the plurality of virtual risk potential zones to be set are selected according to an attachment mounted on the work machine. 6. A potential for setting a plurality of virtual danger potential zones having a higher danger toward the inside formed by multiple circles having different radii on a plane around the tip of the arm of a working machine having an arm. Zone setting means, position detecting means for detecting the position of the detection object with respect to the work machine, and whether the position detected by this position detecting means is in any one of the plurality of virtual risk potential zones. Determination means for determining,
Means for calculating the time increase rate of the risk of the virtual danger potential zone containing the detection target object according to the judgment result of the judging means, and an alarm for issuing an alarm when the time increase rate exceeds a predetermined value. And an alarm system for a working machine including means.